pymentor 0.1

A package to implement a computational model of Mentor didactic robotic arm.

Pymentor

Mentor is a Python library to implement a computational model of the Mentor Didactic Robotic Arm. This model was first published in the work A Genetic Approach for Trajectory Optimization Applied to a Didactic Robot. The library includes:

• Direct kinematics based on Denavit-Hartenberg parameters, where variables represented in the cartesian coordinate space are transformed to joint space.
• Inverse kinematics to encounter joint angles based on position and orientation matrix.
• Exception and error treatment in case of impossible position/orientation pairs.
• Method to deal with alpha, beta and gamma angles to encounter orientation 3x3 matrix based on XYZ angles.

Installation

Use the package manager pip to install pymentor.

pip install pymentor

Usage

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import pymentor

Contributing

Any contributions you make are greatly appreciated. To contribute please follow this steps:

1. Fork the Project
2. Create your Feature Branch (git checkout -b feature/new_feature)
3. Commit your Changes (git commit -m 'commit-tag: commit-description')
4. Push to the Branch (git push origin feature/new_feature)
5. Open a Pull Request

License

General Public License version 3.0 GPL-3.0

Contact

Oscar Schmitt Kremer - Linkedin Email

Project Link: pymentor Repository

References

O. S. Kremer, M. A. B. Cunha, F. S. Moraes, S. S. Schiavon. A Genetic Apporach for Trajectory Optimization Applied to a Didactic Robot 2019 Latin American Robotics Symposium. 2019. doi:10.1109/LARS-SBR-WRE48964.2019.00049